Braking status UI (commaai#18)

* Braking status UI * add brake * wrong things to check
carleeno · Feb 6, 2023 · ca4cbcc · ca4cbcc
1 parent b193992
commit ca4cbcc
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Showing 5 changed files with 22 additions and 1 deletion.
diff --git a/selfdrive/car/interfaces.py b/selfdrive/car/interfaces.py
@@ -399,6 +399,7 @@ def get_sp_common_state(self, cs_out, CS, gear_allowed=True):
     cs_out.madsEnabled = CS.madsEnabled
     cs_out.accEnabled = CS.accEnabled
     cs_out.disengageByBrake = CS.disengageByBrake
+    cs_out.brakeLights |= cs_out.brakePressed or cs_out.brakeHoldActive or cs_out.parkingBrake or cs_out.regenBraking or cs_out.brake
 
     return cs_out, CS
 

diff --git a/selfdrive/ui/qt/onroad.cc b/selfdrive/ui/qt/onroad.cc
@@ -302,6 +302,8 @@ void AnnotatedCameraWidget::updateState(const UIState &s) {
   setProperty("dynamicLaneProfileToggle", s.scene.dynamic_lane_profile_toggle);
   setProperty("dynamicLaneProfile", s.scene.dynamic_lane_profile);
 
+  setProperty("brakeLights", car_state.getBrakeLights());
+
   // update engageability/experimental mode button
   experimental_btn->updateState(s);
 
@@ -455,7 +457,7 @@ void AnnotatedCameraWidget::drawHud(QPainter &p) {
 
   // current speed
   configFont(p, "Inter", 176, "Bold");
-  drawText(p, rect().center().x(), 210, speedStr);
+  drawSpeedText(p, rect().center().x(), 210, speedStr, brakeLights ? QColor(0xff, 0, 0, 255) : QColor(0xff, 0xff, 0xff, 255));
   configFont(p, "Inter", 66, "Regular");
   drawText(p, rect().center().x(), 290, speedUnit, 200);
 
@@ -485,6 +487,16 @@ void AnnotatedCameraWidget::drawText(QPainter &p, int x, int y, const QString &t
   p.drawText(real_rect.x(), real_rect.bottom(), text);
 }
 
+void AnnotatedCameraWidget::drawSpeedText(QPainter &p, int x, int y, const QString &text, QColor color) {
+  QFontMetrics fm(p.font());
+  QRect init_rect = fm.boundingRect(text);
+  QRect real_rect = fm.boundingRect(init_rect, 0, text);
+  real_rect.moveCenter({x, y - real_rect.height() / 2});
+
+  p.setPen(color);
+  p.drawText(real_rect.x(), real_rect.bottom(), text);
+}
+
 void AnnotatedCameraWidget::drawIcon(QPainter &p, int x, int y, QPixmap &img, QBrush bg, float opacity) {
   p.setOpacity(1.0);  // bg dictates opacity of ellipse
   p.setPen(Qt::NoPen);

diff --git a/selfdrive/ui/qt/onroad.h b/selfdrive/ui/qt/onroad.h
@@ -68,6 +68,8 @@ class AnnotatedCameraWidget : public CameraWidget {
   Q_PROPERTY(bool dynamicLaneProfileToggle MEMBER dynamicLaneProfileToggle);
   Q_PROPERTY(int dynamicLaneProfile MEMBER dynamicLaneProfile);
 
+  Q_PROPERTY(bool brakeLights MEMBER brakeLights);
+
 public:
   explicit AnnotatedCameraWidget(VisionStreamType type, QWidget* parent = 0);
   void updateState(const UIState &s);
@@ -77,6 +79,7 @@ class AnnotatedCameraWidget : public CameraWidget {
   void drawText(QPainter &p, int x, int y, const QString &text, int alpha = 255);
 
   void drawDlpButton(QPainter &p, int x, int y, int w, int h);
+  void drawSpeedText(QPainter &p, int x, int y, const QString &text, QColor color);
 
   ExperimentalButton *experimental_btn;
   QPixmap dm_img;
@@ -105,6 +108,8 @@ class AnnotatedCameraWidget : public CameraWidget {
   bool dynamicLaneProfileToggle;
   int dynamicLaneProfile;
 
+  bool brakeLights;
+
 protected:
   void paintGL() override;
   void initializeGL() override;

diff --git a/selfdrive/ui/ui.cc b/selfdrive/ui/ui.cc
@@ -178,6 +178,7 @@ void ui_update_params(UIState *s) {
   s->scene.is_metric = params.getBool("IsMetric");
   s->scene.map_on_left = params.getBool("NavSettingLeftSide");
   s->scene.dynamic_lane_profile_toggle = params.getBool("DynamicLaneProfileToggle");
+  s->scene.visual_brake_lights = params.getBool("BrakeLights");
 }
 
 void UIState::updateStatus() {

diff --git a/selfdrive/ui/ui.h b/selfdrive/ui/ui.h
@@ -111,6 +111,8 @@ typedef struct UIScene {
 
   int dynamic_lane_profile;
   bool dynamic_lane_profile_status, dynamic_lane_profile_toggle;
+
+  bool visual_brake_lights;
 } UIScene;
 
 class UIState : public QObject {